From 6b280e75fe4168fdbc72c2d3fd52b0a8b426198d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=90=89=E7=92=83=E6=9C=88=E5=85=89?= <15630071+llyg777@user.noreply.gitee.com> Date: Fri, 15 Aug 2025 14:03:07 +0800 Subject: [PATCH] =?UTF-8?q?EMV=E5=BB=B6=E8=BF=9F=E5=8F=82=E6=95=B0?= =?UTF-8?q?=E9=9B=86=E6=88=90=EF=BC=8C=E6=97=A7EMV=E5=9C=A8=E5=90=8C?= =?UTF-8?q?=E5=90=8D=E6=96=87=E4=BB=B6=E5=A4=B9=E4=B8=8BEMV=5Fold=5Fsave?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- EMV/EMV.py | 210 ++++----- EMV/EMV_old_save.py | 401 ++++++++++++++++++ ...MV_reneer.py => EMV_reneer_pengqi_save.py} | 0 EMV/__pycache__/EMV.cpython-39.pyc | Bin 10015 -> 9524 bytes ...ALL_test.py => all_sensors_device_test.py} | 0 EMV/{code_statue.py => code_statue_test.py} | 0 ...MV_test_sensor.py => only_sensor1_test.py} | 0 EMV/{test_EMV.py => sensors_test.py} | 0 EMV/test.py | 2 - 9 files changed, 489 insertions(+), 124 deletions(-) create mode 100644 EMV/EMV_old_save.py rename EMV/{EMV_reneer.py => EMV_reneer_pengqi_save.py} (100%) rename EMV/{ALL_test.py => all_sensors_device_test.py} (100%) rename EMV/{code_statue.py => code_statue_test.py} (100%) rename EMV/{EMV_test_sensor.py => only_sensor1_test.py} (100%) rename EMV/{test_EMV.py => sensors_test.py} (100%) delete mode 100644 EMV/test.py diff --git a/EMV/EMV.py b/EMV/EMV.py index b3c3d48..91a8f93 100644 --- a/EMV/EMV.py +++ b/EMV/EMV.py @@ -8,15 +8,37 @@ import logging from PySide6.QtCore import Signal, QObject import numpy as np + class RelayController: need_origin_signal = Signal(str) take_no_photo_sigal = Signal() update_detect_image = Signal(np.ndarray) log_signal = Signal(int, str) + def __init__(self, host='192.168.0.18', port=50000): + # ===================== 全局线程延时参数 ===================== + self.sensor1_loop_delay = 0.2 # SENSOR1 线程轮询间隔（秒） + self.sensor1_error_delay = 1.0 # SENSOR1 出错时延时（秒） + self.sensor1_post_action_delay = 0.2 # SENSOR1 每次循环后延时（秒） + + self.sensor2_loop_delay = 0.5 # SENSOR2 线程轮询间隔（秒） + self.sensor2_error_delay = 0.5 # SENSOR2 出错时延时（秒） + self.sensor2_post_action_delay = 0.2 # SENSOR2 每次循环后延时（秒） + # ===================== 全局动作延时参数 ===================== + self.delay_conveyor = 0.5 # 传送带开/关动作延时（一半时间，我在控制程序和线程都加了一样的延时） + self.delay_pusher = 0.05 # 推板开/关动作延时 + self.delay_clamp = 0.5 # 夹爪动作延时 + self.delay_after_pusher = 3.0 # 推板推出后到重启传动带时间 + + # ===================== 传感器稳定检测参数 ===================== + self.sensor_stable_duration = 1.0 # 传感器状态稳定检测时间（秒） + self.sensor_max_attempts = 3 # 连续检测次数达到此值判定有效 + self.sensor1_debounce_time = 1.0 # 传感器1防抖时间（秒） + + # ===================== 网络与设备映射 ===================== self.host = host self.port = port - # 控件映射 + self.CONVEYOR1 = 'conveyor1' self.PUSHER = 'pusher' self.CONVEYOR2 = 'conveyor2' @@ -28,10 +50,9 @@ class RelayController: self.valve_commands = { self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'}, self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'}, - #self.CONVEYOR2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'}, self.CONVEYOR2: {'open': '000100000006020620000012', 'close': '000100000006020620000001'}, self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'}, - self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}# + self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'} } self.read_status_command = { @@ -39,7 +60,6 @@ class RelayController: 'sensors': '000000000006010200000008' } - self.device_bit_map = { self.CONVEYOR1: 0, self.PUSHER: 1, @@ -50,7 +70,7 @@ class RelayController: self.sensor_bit_map = { self.SENSOR1: 0, - self.SENSOR2: 1,# + self.SENSOR2: 1, } self.device_name_map = { @@ -66,27 +86,21 @@ class RelayController: self.SENSOR2: '位置传感器2', } - # 传感器状态变量 + # ===================== 状态控制变量 ===================== self._running = False self._sensor1_thread = None self._sensor2_thread = None - # 配置项 - self.required_codes = {'0101', '0103'} # 有效状态码 - self.required_codes_1 = { '0102', '0103'} # 有效状态码（需要修改） - self.stable_duration = 1.0 # 稳定检测时间（秒） - self.max_attempts = 3 # 连续检测次数 - self.poll_interval = 0.2 # 检测间隔 + self.required_codes = {'0101', '0103'} # 有效状态码（传感器1） + self.required_codes_1 = {'0102', '0103'} # 有效状态码（传感器2） - # 状态锁和防抖 self.sensor1_triggered = False self.sensor1_last_time = 0 - self.sensor1_debounce = 2.0 - # 传感器2状态变量 self.sensor2_ready = True self.motor_stopped_by_sensor2 = False + # ===================== 基础通信方法 ===================== def send_command(self, command_hex, retry_count=2, source='unknown'): byte_data = binascii.unhexlify(command_hex) for attempt in range(retry_count): @@ -113,6 +127,7 @@ class RelayController: def trigger_alarm(self): print("警告：连续多次通信失败，请检查设备连接！") + # ===================== 状态读取方法 ===================== def get_all_device_status(self, command_type='devices'): command = self.read_status_command.get(command_type) if not command: @@ -126,7 +141,6 @@ class RelayController: if response and len(response) >= 10: status_byte = response[9] status_bin = f"{status_byte:08b}"[::-1] - bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map @@ -175,36 +189,28 @@ class RelayController: return response[16:20] return None - def is_valid_sensor_status(self, sensor_name: object) -> object: - """ - 检查传感器是否在稳定时间内连续返回有效状态码（01 或 03） - """ + def is_valid_sensor_status(self, sensor_name): stable_count = 0 - for _ in range(int(self.stable_duration / self.poll_interval)): + for _ in range(int(self.sensor_stable_duration / self.sensor1_loop_delay)): responses = self.get_all_sensor_responses('sensors') response = responses.get(sensor_name) if not response: - print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...") stable_count = 0 else: status_code = self.parse_status_code(response) if status_code in self.required_codes: stable_count += 1 - if stable_count >= self.max_attempts: + if stable_count >= self.sensor_max_attempts: return True else: stable_count = 0 - print(f"[警告] {sensor_name} 状态码无效: {status_code}") - time.sleep(self.poll_interval) + time.sleep(self.sensor1_loop_delay) return False - def is_valid_sensor_status_1(self, sensor_name: object) -> object: - """ - 检查传感器是否在稳定时间内连续返回有效状态码（01 或 03） - """ + def is_valid_sensor_status_1(self, sensor_name): stable_count = 0 - for _ in range(int(self.stable_duration / self.poll_interval)): + for _ in range(int(self.sensor_stable_duration / self.sensor2_loop_delay)): responses = self.get_all_sensor_responses('sensors') response = responses.get(sensor_name) @@ -215,149 +221,109 @@ class RelayController: status_code = self.parse_status_code(response) if status_code in self.required_codes_1: stable_count += 1 - if stable_count >= self.max_attempts: + if stable_count >= self.sensor_max_attempts: return True else: stable_count = 0 - print(f"[警告] {sensor_name} 状态码无效: {status_code}") - time.sleep(self.poll_interval) + time.sleep(self.sensor2_loop_delay) return False - + # ===================== 动作控制方法 ===================== def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False): status = self.get_all_device_status() if conveyor1 and not status.get(self.CONVEYOR1, False): - print("打开传送带1") - self.send_command(self.valve_commands[self.CONVEYOR1]['open'], source='device') - time.sleep(1) - + self.send_command(self.valve_commands[self.CONVEYOR1]['open']) + time.sleep(self.delay_conveyor) if pusher and not status.get(self.PUSHER, False): - print("打开推板") - self.send_command(self.valve_commands[self.PUSHER]['open'], source='device') - time.sleep(0.05) - + self.send_command(self.valve_commands[self.PUSHER]['open']) + time.sleep(self.delay_pusher) if conveyor2 and not status.get(self.CONVEYOR2, False): - print("打开传送带2") - self.send_command(self.valve_commands[self.CONVEYOR2]['open'], source='device') - time.sleep(1) - + self.send_command(self.valve_commands[self.CONVEYOR2]['open']) + time.sleep(self.delay_conveyor) if clamp and not status.get(self.CLAMP, False): - print("启动机械臂抓夹") - self.send_command(self.valve_commands[self.CLAMP]['open'], source='device') - time.sleep(0.5) - + self.send_command(self.valve_commands[self.CLAMP]['open']) + time.sleep(self.delay_clamp) if pusher1 and not status.get(self.PUSHER1, False): - print("关闭推板") - self.send_command(self.valve_commands[self.PUSHER1]['open'], source='device') - time.sleep(0.05) - + self.send_command(self.valve_commands[self.PUSHER1]['open']) + time.sleep(self.delay_pusher) def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False): - status = self.get_all_device_status() - if conveyor1 : - #if conveyor1 and status.get(self.CONVEYOR1, True): - print("关闭传送带1") - self.send_command(self.valve_commands[self.CONVEYOR1]['close'], source='device') - time.sleep(1) - - if pusher : - #if pusher and status.get(self.PUSHER, True): - print("关闭推板") - self.send_command(self.valve_commands[self.PUSHER]['close'], source='device') - time.sleep(0.05) - - if conveyor2 : - #if conveyor2 and status.get(self.CONVEYOR2, True): - print("关闭传送带2") - self.send_command(self.valve_commands[self.CONVEYOR2]['close'], source='device') - time.sleep(1) - - if clamp : - #if clamp and status.get(self.CLAMP, True): - print("停止机械臂抓夹") - self.send_command(self.valve_commands[self.CLAMP]['close'], source='device') - time.sleep(0.5) - - if pusher1 : - #if pusher and status.get(self.PUSHER1, True): - print("关闭推板_1") - self.send_command(self.valve_commands[self.PUSHER1]['close'], source='device') - time.sleep(0.05) + if conveyor1: + self.send_command(self.valve_commands[self.CONVEYOR1]['close']) + time.sleep(self.delay_conveyor) + if pusher: + self.send_command(self.valve_commands[self.PUSHER]['close']) + time.sleep(self.delay_pusher) + if conveyor2: + self.send_command(self.valve_commands[self.CONVEYOR2]['close']) + time.sleep(self.delay_conveyor) + if clamp: + self.send_command(self.valve_commands[self.CLAMP]['close']) + time.sleep(self.delay_clamp) + if pusher1: + self.send_command(self.valve_commands[self.PUSHER1]['close']) + time.sleep(self.delay_pusher) + # ===================== 传感器处理线程 ===================== def handle_sensor1(self): while self._running: try: - # 检查传感器是否返回有效状态码（01 或 03） if self.is_valid_sensor_status(self.SENSOR1): current_time = time.time() - # 判断是否已触发 或 是否在防抖时间内 - if not self.sensor1_triggered and (current_time - self.sensor1_last_time) > self.sensor1_debounce: - print("✅ SENSOR1 检测到有效信号，开始执行推料流程") - # 标记已触发，防止重复执行 + if not self.sensor1_triggered and ( + current_time - self.sensor1_last_time) > self.sensor1_debounce_time: self.sensor1_triggered = True self.sensor1_last_time = current_time - # 1. 停止包装机皮带电机（关闭） + # 1.停止包装机皮带电机：关闭 conveyor1 self.close(conveyor1=True) - time.sleep(0.5) - # 2. 推板开启 + time.sleep(self.delay_conveyor) + # 2.推板开启：推出去动作 self.open(pusher=True) - time.sleep(0.1) + time.sleep(self.delay_pusher) self.close(pusher=True) - # 2结束 - time.sleep(3) # 保持 3 秒 - # 3. 包装机皮带电机开启 + # 推板推出后重新启动电机时间传送带1延时 + time.sleep(self.delay_after_pusher) + # 3.重新开启包装机皮带电机: 开启conveyor1 self.open(conveyor1=True) - time.sleep(0.5) - # 4. 推板关闭 - #self.close(pusher=True) + time.sleep(self.delay_conveyor) + # 4.推板关闭：推板收回来动作 self.open(pusher1=True) - time.sleep(0.1) + time.sleep(self.delay_pusher) self.close(pusher1=True) time.sleep(1) # 5. 状态检查（可选） status = self.get_all_device_status() if status.get('conveyor1') and not status.get('pusher'): - print("🟢流程完成1：皮带运行中，推板已收回") + print("流程完成1：皮带运行中，推板已收回") else: - print("⚠️ 状态异常，请检查设备") + print("状态异常，请检查设备") # 流程结束，重置触发标志 self.sensor1_triggered = False - # 如果传感器无效，确保触发标志可重置（可选） - time.sleep(0.2) - + time.sleep(self.sensor1_loop_delay) except Exception as e: print(f"SENSOR1 处理错误: {e}") self.sensor1_triggered = False - time.sleep(1) + time.sleep(self.sensor1_error_delay) - - #传感器2检测到料包 → 立即停止 conveyor2」这个逻辑 放在传感器线程中处理 def handle_sensor2(self): while self._running: try: - # 检测传感器2状态 - #self.sensor2_ready = None if self.is_valid_sensor_status_1(self.SENSOR2): - print("✅ SENSOR2 检测到有效信号，开始执行关闭滚筒电机流程") if not self.sensor2_ready: - #self.log_signal.emit(logging.INFO, "🟢 传感器2检测到料包到位，立即停止 conveyor2") - # ✅ 立即停止电机（不管机器人是否在抓取） self.close(conveyor2=True) - print("执行关闭") - self.motor_stopped_by_sensor2 = True # 标记为传感器2触发停止 + self.motor_stopped_by_sensor2 = True self.sensor2_ready = True else: if self.sensor2_ready and self.motor_stopped_by_sensor2: - #self.log_signal.emit(logging.INFO, "🟡 传感器2未检测到料包，准备重新启动 conveyor2") - # ✅ 重新启动 conveyor2（可选） self.open(conveyor2=True) self.motor_stopped_by_sensor2 = False self.sensor2_ready = False - - time.sleep(0.5) + time.sleep(self.sensor2_loop_delay) except Exception as e: - self.log_signal.emit(logging.ERROR, f"🔴 SENSOR2 处理错误: {e}") - time.sleep(1) + print(f"SENSOR2 处理错误: {e}") + time.sleep(self.sensor2_error_delay) + + # ===================== 线程控制方法 ===================== def start(self): if self._running: print("线程已经在运行") @@ -398,4 +364,4 @@ if __name__ == '__main__': while True: time.sleep(1) except KeyboardInterrupt: - controller.stop() \ No newline at end of file + controller.stop() diff --git a/EMV/EMV_old_save.py b/EMV/EMV_old_save.py new file mode 100644 index 0000000..b3c3d48 --- /dev/null +++ b/EMV/EMV_old_save.py @@ -0,0 +1,401 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +import socket +import binascii +import time +import threading +import logging +from PySide6.QtCore import Signal, QObject +import numpy as np + +class RelayController: + need_origin_signal = Signal(str) + take_no_photo_sigal = Signal() + update_detect_image = Signal(np.ndarray) + log_signal = Signal(int, str) + def __init__(self, host='192.168.0.18', port=50000): + self.host = host + self.port = port + # 控件映射 + self.CONVEYOR1 = 'conveyor1' + self.PUSHER = 'pusher' + self.CONVEYOR2 = 'conveyor2' + self.CLAMP = 'clamp' + self.PUSHER1 = 'pusher1' + self.SENSOR1 = 'sensor1' + self.SENSOR2 = 'sensor2' + + self.valve_commands = { + self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'}, + self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'}, + #self.CONVEYOR2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'}, + self.CONVEYOR2: {'open': '000100000006020620000012', 'close': '000100000006020620000001'}, + self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'}, + self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}# + } + + self.read_status_command = { + 'devices': '000000000006010100000008', + 'sensors': '000000000006010200000008' + } + + + self.device_bit_map = { + self.CONVEYOR1: 0, + self.PUSHER: 1, + self.CONVEYOR2: 2, + self.CLAMP: 3, + self.PUSHER1: 4, + } + + self.sensor_bit_map = { + self.SENSOR1: 0, + self.SENSOR2: 1,# + } + + self.device_name_map = { + self.CONVEYOR1: "传送带1", + self.PUSHER: "推板开", + self.CONVEYOR2: "传送带2", + self.CLAMP: "机械臂夹爪", + self.PUSHER1: "推板关", + } + + self.sensor_name_map = { + self.SENSOR1: '位置传感器1', + self.SENSOR2: '位置传感器2', + } + + # 传感器状态变量 + self._running = False + self._sensor1_thread = None + self._sensor2_thread = None + + # 配置项 + self.required_codes = {'0101', '0103'} # 有效状态码 + self.required_codes_1 = { '0102', '0103'} # 有效状态码（需要修改） + self.stable_duration = 1.0 # 稳定检测时间（秒） + self.max_attempts = 3 # 连续检测次数 + self.poll_interval = 0.2 # 检测间隔 + + # 状态锁和防抖 + self.sensor1_triggered = False + self.sensor1_last_time = 0 + self.sensor1_debounce = 2.0 + + # 传感器2状态变量 + self.sensor2_ready = True + self.motor_stopped_by_sensor2 = False + + def send_command(self, command_hex, retry_count=2, source='unknown'): + byte_data = binascii.unhexlify(command_hex) + for attempt in range(retry_count): + try: + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock: + sock.settimeout(10) + sock.connect((self.host, self.port)) + sock.send(byte_data) + response = sock.recv(1024) + hex_response = binascii.hexlify(response).decode('utf-8') + #if source == 'sensor': + #print(f"[传感器响应] {hex_response}") + #elif source == 'device': + #print(f"[设备控制响应] {hex_response}") + #else: + #print(f"[通信响应] {hex_response}") + return response + except Exception as e: + print(f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})") + time.sleep(5) + self.trigger_alarm() + return None + + def trigger_alarm(self): + print("警告：连续多次通信失败，请检查设备连接！") + + def get_all_device_status(self, command_type='devices'): + command = self.read_status_command.get(command_type) + if not command: + print(f"未知的读取类型: {command_type}") + return {} + + source = 'sensor' if command_type == 'sensors' else 'device' + response = self.send_command(command, source=source) + status_dict = {} + + if response and len(response) >= 10: + status_byte = response[9] + status_bin = f"{status_byte:08b}"[::-1] + + bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map + name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map + + for key, bit_index in bit_map.items(): + status_dict[key] = status_bin[bit_index] == '1' + else: + print(f"[{command_type}] 读取状态失败或响应无效") + + return status_dict + + def get_all_sensor_responses(self, command_type='sensors'): + """ + 获取所有传感器的原始 Modbus 响应字符串 + 示例：{'sensor1': '00000000000401020101', 'sensor2': '00000000000401020100'} + """ + command = self.read_status_command.get(command_type) + if not command: + print(f"未知的读取类型: {command_type}") + return {} + + source = 'sensor' if command_type == 'sensors' else 'device' + response = self.send_command(command, source=source) + responses = {} + + if response and len(response) >= 10: + hex_response = binascii.hexlify(response).decode('utf-8') + print(f"[原始响应][{command_type}] {hex_response}") + + # 假设传感器数据从第 9 字节开始，长度为 2 字节 + for name, bit_index in self.sensor_bit_map.items(): + offset = 9 + (bit_index // 8) + bit_pos = bit_index % 8 + byte = response[offset] + status = (byte >> bit_pos) & 1 + responses[name] = hex_response + else: + print(f"[{command_type}] 无法获取响应数据") + return responses + + def parse_status_code(self, response): + """ + 从 Modbus 响应字符串中提取状态码（后两位） + 示例：00000000000401020101 -> '01' + """ + if isinstance(response, str) and len(response) >= 18: + return response[16:20] + return None + + def is_valid_sensor_status(self, sensor_name: object) -> object: + """ + 检查传感器是否在稳定时间内连续返回有效状态码（01 或 03） + """ + stable_count = 0 + for _ in range(int(self.stable_duration / self.poll_interval)): + responses = self.get_all_sensor_responses('sensors') + response = responses.get(sensor_name) + + if not response: + print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...") + stable_count = 0 + else: + status_code = self.parse_status_code(response) + if status_code in self.required_codes: + stable_count += 1 + if stable_count >= self.max_attempts: + return True + else: + stable_count = 0 + print(f"[警告] {sensor_name} 状态码无效: {status_code}") + time.sleep(self.poll_interval) + return False + + def is_valid_sensor_status_1(self, sensor_name: object) -> object: + """ + 检查传感器是否在稳定时间内连续返回有效状态码（01 或 03） + """ + stable_count = 0 + for _ in range(int(self.stable_duration / self.poll_interval)): + responses = self.get_all_sensor_responses('sensors') + response = responses.get(sensor_name) + + if not response: + print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...") + stable_count = 0 + else: + status_code = self.parse_status_code(response) + if status_code in self.required_codes_1: + stable_count += 1 + if stable_count >= self.max_attempts: + return True + else: + stable_count = 0 + print(f"[警告] {sensor_name} 状态码无效: {status_code}") + time.sleep(self.poll_interval) + return False + + + def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False): + status = self.get_all_device_status() + if conveyor1 and not status.get(self.CONVEYOR1, False): + print("打开传送带1") + self.send_command(self.valve_commands[self.CONVEYOR1]['open'], source='device') + time.sleep(1) + + if pusher and not status.get(self.PUSHER, False): + print("打开推板") + self.send_command(self.valve_commands[self.PUSHER]['open'], source='device') + time.sleep(0.05) + + if conveyor2 and not status.get(self.CONVEYOR2, False): + print("打开传送带2") + self.send_command(self.valve_commands[self.CONVEYOR2]['open'], source='device') + time.sleep(1) + + if clamp and not status.get(self.CLAMP, False): + print("启动机械臂抓夹") + self.send_command(self.valve_commands[self.CLAMP]['open'], source='device') + time.sleep(0.5) + + if pusher1 and not status.get(self.PUSHER1, False): + print("关闭推板") + self.send_command(self.valve_commands[self.PUSHER1]['open'], source='device') + time.sleep(0.05) + + + def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False): + status = self.get_all_device_status() + if conveyor1 : + #if conveyor1 and status.get(self.CONVEYOR1, True): + print("关闭传送带1") + self.send_command(self.valve_commands[self.CONVEYOR1]['close'], source='device') + time.sleep(1) + + if pusher : + #if pusher and status.get(self.PUSHER, True): + print("关闭推板") + self.send_command(self.valve_commands[self.PUSHER]['close'], source='device') + time.sleep(0.05) + + if conveyor2 : + #if conveyor2 and status.get(self.CONVEYOR2, True): + print("关闭传送带2") + self.send_command(self.valve_commands[self.CONVEYOR2]['close'], source='device') + time.sleep(1) + + if clamp : + #if clamp and status.get(self.CLAMP, True): + print("停止机械臂抓夹") + self.send_command(self.valve_commands[self.CLAMP]['close'], source='device') + time.sleep(0.5) + + if pusher1 : + #if pusher and status.get(self.PUSHER1, True): + print("关闭推板_1") + self.send_command(self.valve_commands[self.PUSHER1]['close'], source='device') + time.sleep(0.05) + + def handle_sensor1(self): + while self._running: + try: + # 检查传感器是否返回有效状态码（01 或 03） + if self.is_valid_sensor_status(self.SENSOR1): + current_time = time.time() + # 判断是否已触发 或 是否在防抖时间内 + if not self.sensor1_triggered and (current_time - self.sensor1_last_time) > self.sensor1_debounce: + print("✅ SENSOR1 检测到有效信号，开始执行推料流程") + # 标记已触发，防止重复执行 + self.sensor1_triggered = True + self.sensor1_last_time = current_time + # 1. 停止包装机皮带电机（关闭） + self.close(conveyor1=True) + time.sleep(0.5) + # 2. 推板开启 + self.open(pusher=True) + time.sleep(0.1) + self.close(pusher=True) + # 2结束 + time.sleep(3) # 保持 3 秒 + # 3. 包装机皮带电机开启 + self.open(conveyor1=True) + time.sleep(0.5) + # 4. 推板关闭 + #self.close(pusher=True) + self.open(pusher1=True) + time.sleep(0.1) + self.close(pusher1=True) + time.sleep(1) + # 5. 状态检查（可选） + status = self.get_all_device_status() + if status.get('conveyor1') and not status.get('pusher'): + print("🟢流程完成1：皮带运行中，推板已收回") + else: + print("⚠️ 状态异常，请检查设备") + # 流程结束，重置触发标志 + self.sensor1_triggered = False + # 如果传感器无效，确保触发标志可重置（可选） + time.sleep(0.2) + + except Exception as e: + print(f"SENSOR1 处理错误: {e}") + self.sensor1_triggered = False + time.sleep(1) + + + #传感器2检测到料包 → 立即停止 conveyor2」这个逻辑 放在传感器线程中处理 + def handle_sensor2(self): + while self._running: + try: + # 检测传感器2状态 + #self.sensor2_ready = None + if self.is_valid_sensor_status_1(self.SENSOR2): + print("✅ SENSOR2 检测到有效信号，开始执行关闭滚筒电机流程") + if not self.sensor2_ready: + #self.log_signal.emit(logging.INFO, "🟢 传感器2检测到料包到位，立即停止 conveyor2") + # ✅ 立即停止电机（不管机器人是否在抓取） + self.close(conveyor2=True) + print("执行关闭") + self.motor_stopped_by_sensor2 = True # 标记为传感器2触发停止 + self.sensor2_ready = True + else: + if self.sensor2_ready and self.motor_stopped_by_sensor2: + #self.log_signal.emit(logging.INFO, "🟡 传感器2未检测到料包，准备重新启动 conveyor2") + # ✅ 重新启动 conveyor2（可选） + self.open(conveyor2=True) + self.motor_stopped_by_sensor2 = False + self.sensor2_ready = False + + time.sleep(0.5) + except Exception as e: + self.log_signal.emit(logging.ERROR, f"🔴 SENSOR2 处理错误: {e}") + time.sleep(1) + def start(self): + if self._running: + print("线程已经在运行") + return + print("启动传感器线程") + self._running = True + self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True) + self._sensor2_thread = threading.Thread(target=self.handle_sensor2, daemon=True) + self._sensor1_thread.start() + self._sensor2_thread.start() + + def stop(self): + if not self._running: + print("线程未在运行") + return + print("停止传感器线程") + self._running = False + if self._sensor1_thread: + self._sensor1_thread.join() + if self._sensor2_thread: + self._sensor2_thread.join() + print("传感器线程已终止。") + + def start_sensor1_only(self): + if self._running: + print("传感器线程已经在运行") + return + print("启动传感器1监听线程...") + self._running = True + self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True) + self._sensor1_thread.start() + + +if __name__ == '__main__': + controller = RelayController() + controller.start() + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + controller.stop() \ No newline at end of file diff --git a/EMV/EMV_reneer.py b/EMV/EMV_reneer_pengqi_save.py similarity index 100% rename from EMV/EMV_reneer.py rename to EMV/EMV_reneer_pengqi_save.py diff --git a/EMV/__pycache__/EMV.cpython-39.pyc b/EMV/__pycache__/EMV.cpython-39.pyc index 54c702a2eaa18a53913cb0a8fccefb3864e717ee..aa84c29a552c121584360ec0dfb6baa0a9a6c406 100644 GIT binary patch delta 4711 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a/EMV/ALL_test.py b/EMV/all_sensors_device_test.py similarity index 100% rename from EMV/ALL_test.py rename to EMV/all_sensors_device_test.py diff --git a/EMV/code_statue.py b/EMV/code_statue_test.py similarity index 100% rename from EMV/code_statue.py rename to EMV/code_statue_test.py diff --git a/EMV/EMV_test_sensor.py b/EMV/only_sensor1_test.py similarity index 100% rename from EMV/EMV_test_sensor.py rename to EMV/only_sensor1_test.py diff --git a/EMV/test_EMV.py b/EMV/sensors_test.py similarity index 100% rename from EMV/test_EMV.py rename to EMV/sensors_test.py diff --git a/EMV/test.py b/EMV/test.py deleted file mode 100644 index 139597f..0000000 --- a/EMV/test.py +++ /dev/null @@ -1,2 +0,0 @@ - -